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math.DG2004
Hamiltonian theory of constrained impulsive motion
Jorge Cortes, Alexandre M. Vinogradov
This paper considers systems subject to nonholonomic constraints which are not uniform on the whole configuration manifold. When the constraints change, the system undergoes a tran…
math.DG2000
Geometric description of vakonomic and nonholonomic dynamics. Comparison of solutions
Jorge Cortes, Manuel de Leon, David Martin de Diego +1
We treat the vakonomic dynamics with general constraints within a new geometric framework which will be appropriate to study optimal control problems. We compare our formulation wi…